Manipulator Kinematics

  • Adam Morecki
  • Józef Knapczyk
Part of the International Centre for Mechanical Sciences book series (CISM, volume 402)


A robotic manipulator is a set of rigid bodies, also called links, performing complex motions in the workspace. In order to describe the displacements, velocities, accelerations, and dynamics of particular links, it is necessary to introduce mathematical tools, that are efficient in terms of computation. The matrix approach (using homogeneous coordinates) describes problems concerning the mechanics of the manipulator in a compact and uniform way, expressing the geometric, kinematic and dynamic relations between manipulator elements and the manipulated objects, and providing control algorithms, along with visual information processing. The use of homogeneous coordinates to describe the complex control system of a robot can considerably simplify the analysis and synthesis of such a system [3.2, 3.13, 3.17].


Robot Manipulator Inverse Kinematic Revolute Joint Visual Information Processing Inverse Kinematic Problem 


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Copyright information

© Springer-Verlag Wien 1999

Authors and Affiliations

  • Adam Morecki
    • 1
  • Józef Knapczyk
    • 2
  1. 1.Warsaw University of TechnologyPoland
  2. 2.Cracow University of TechnologyPoland

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